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Add camera projection sensor.

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BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
This commit is contained in:
Alessio Quaglino
2023-09-12 08:15:14 -07:00
committed by Copybara-Service
parent ccda87aafa
commit 8064ad59c8
19 changed files with 369 additions and 75 deletions
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test/engine/testdata/sensor/camprojection.xml
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<mujoco>
<default>
<site rgba="1 0 0 1" size="0.03"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<body pos="1.1 0 1">
<geom type="box" size=".1 .6 .375"/>
<site name="frontorigin" pos="-.1 .6 .375"/>
<site name="frontcenter" pos="-.1 0 0"/>
</body>
<body pos="0 0 0">
<joint axis="0 0 1" range="-180 180" limited="false"/>
<geom type="cylinder" size=".2 .05" pos="0 0 0.9"/>
<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
resolution="1920 1200" name="fixedcamera"/>
</body>
</worldbody>
<sensor>
<camprojection site="frontorigin" camera="fixedcamera"/>
<camprojection site="frontcenter" camera="fixedcamera"/>
</sensor>
</mujoco>